Labeling method and apparatus for estimating 6 degrees of freedom of object

Abstract

A labeling method and system for estimating six degrees of freedom (6DoF) of an object are provided. The method includes identifying a center coordinate of an object included in an image, converting the center coordinate into object location information in a real space, and visualizing 6DoF of the object by labeling the 6DoF based on the object location information.

What is claimed is: 
     
         1 . A labeling method of estimating six degrees of freedom (6DoF) of an object, the labeling method comprising:
 identifying a center coordinate of an object included in an image;   converting the center coordinate into object location information in a real space; and   visualizing 6DoF of the object by labeling the 6DoF based on the object location information.   
     
     
         2 . The labeling method of  claim 1 , wherein
 the converting of the center coordinate comprises:   determining a size of a real space corresponding to a pixel of the image based on an actual size of a space, where the object is located in a real space, and resolution of the image; and   determining the object location information in the real space based on the center coordinate of the object and the size of the real space corresponding to the pixel of the image.   
     
     
         3 . The labeling method of  claim 2 , wherein
 the determining of the object location information comprises determining an x value of the object location information in the real space using an X value of the center coordinate, an actual horizontal length of a space visible on the image, and a resolution horizontal value of the image.   
     
     
         4 . The labeling method of  claim 2 , wherein
 the determining of the object location information comprises determining a y value of the object location information in the real space using a Y value of the center coordinate, an actual vertical length of a space visible on the image, and a resolution vertical value of the image.   
     
     
         5 . The labeling method of  claim 2 , wherein
 the determining of the object location information comprises determining a z value of the object location information in the real space by inputting an x value of the object location information in the real space and a y value of the object location information in the real space to a matrix representing a relationship between the x value of the object location information in the real space, the y value of the object location information in the real space, and the z value of the object location information in the real space.   
     
     
         6 . The labeling method of  claim 1 , further comprising:
 determining a camera parameter representing a relationship between a camera and the object based on information about a location and rotation of the camera, the object location information in the real space, and information about the rotation,   and the visualizing of the 6DoF comprises labeling a location of the object existing in three-dimensions in the image of two-dimensions by applying a camera parameter to the object location information in the real space and performing visualization.   
     
     
         7 . The labeling method of  claim 6 , wherein
 the visualizing of the 6DoF comprises displaying an interface for inputting annotations according to the object location information in the real space and the information about the rotation.   
     
     
         8 . A labeling device for estimating six degrees of freedom (6DoF) of an object, the labeling device comprising:
 a value movement portion configured to identify a center coordinate of an object included in an image;   a converter configured to convert the center coordinate into object location information in a real space; and   a visualizer configured to visualize 6DoF of the object by labeling the 6DoF based on the object location information.   
     
     
         9 . The labeling device of  claim 8 , wherein
 the converter is further configured to:   determine a size of a real space corresponding to a pixel of the image based on an actual size of a space, where the object is located in a real space, and resolution of the image; and   determine the object location information in the real space based on the center coordinate of the object and the size of the real space corresponding to the pixel of the image.   
     
     
         10 . The labeling device of  claim 9 , wherein
 the converter is further configured to determine an x value of the object location information in the real space using an X value of the center coordinate, an actual horizontal length of a space visible on the image, and a resolution horizontal value of the image.   
     
     
         11 . The labeling device of  claim 9 , wherein
 the converter is further configured to determine a y value of the object location information in the real space using a Y value of the center coordinate, an actual vertical length of a space visible on the image, and a resolution vertical value of the image.   
     
     
         12 . The labeling device of  claim 9 , wherein
 the converter is further configured to determine a z value of the object location information in the real space by inputting an x value of the object location information in the real space and a y value of the object location information in the real space to a matrix representing a relationship between the x value of the object location information in the real space, the y value of the object location information in the real space, and the z value of the object location information in the real space.   
     
     
         13 . The labeling device of  claim 8 , wherein
 the visualizer is further configured to:   determine a camera parameter representing a relationship between a camera and the object based on information about a location and rotation of the camera, the object location information in the real space, and information about the rotation; and   label a location of the object existing in three-dimensions in the image of two-dimensions by applying a camera parameter to the object location information in the real space and perform visualization.   
     
     
         14 . The labeling device of  claim 13 , wherein
 the visualizer is further configured to display an interface for inputting annotations according to the object location information in the real space and the information about the rotation.